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Navigation autonome sans collision pour robots mobiles nonholonomes

Olivier Lefebvre 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This work deals with autonomous navigation in cluttered environments for wheeled mobile robots subject to nonholonomic kinematic constraints. The potential applications of this work are for instance the development of autonomous cars and of parking assistance systems. In order to navigate autonomously a robot must realise several functionalities: path planning in a map of the environment, localisation, obstacle avoidance, trajectory following, etc. We show that the specificities of the applications of this work and of the systems we deal with imply the development of specific methods to address these functionalities. Our contribution lies in the development of original methods to solve some of these functionalities and in their integration into a generic software architecture. First, we present an obstacle avoidance method the principle of which is to deform an initial trajectory in order to make it move away from perceived obstacles and so that it respects the kinematic constraints of the system. Then, we propose a landmark-based parking method for nonholonomic systems. The principle is to define a parking position with respect to some landmarks of the environment, and to deform the trajectory in order to reach this position. Then, we present a generic architecture for the integration of the functionalities of localisation, obstacle avoidance and trajectory following. Eventually, we illustrate this work with some experimental results obtained with several robots.
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https://tel.archives-ouvertes.fr/tel-00134581
Contributor : Emilie Marchand <>
Submitted on : Friday, March 2, 2007 - 4:20:22 PM
Last modification on : Thursday, June 10, 2021 - 3:02:22 AM
Long-term archiving on: : Friday, September 21, 2012 - 12:20:36 PM

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  • HAL Id : tel-00134581, version 1

Citation

Olivier Lefebvre. Navigation autonome sans collision pour robots mobiles nonholonomes. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2006. Français. ⟨tel-00134581⟩

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